/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "motor_simulation.h"
#include "bsp_dwt.h"
#include "pid_controller.h"
#include "stdio.h"
#include "math.h"
#define PI 3.14159265358979323846
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t DWT_CANT;
motorObject_t Motor;
float dt;
float t;
float Current;
float Velocity;
float Angle;

//PID
pid_t PID;
pid_t in_PID;
pid_t out_PID;

//output
float out_output;
float in_output;
float Input;

//ref
float velocity_sin_ref;
float VelocityRef = 10;

float angle_sin_ref;
float angleRef = 2*PI;;

//disturbance
float disturbance = 10;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
	
  DWT_Init (72);
  Motor_Object_Init(&Motor);


  /**
	*PID_Init
	*/
	
    //jieyue_v
//  PID_Init(&PID,8.18,2.5,3);   

    //xiepo_v
//  PID_Init(&PID,8.18,10000,4);         
//	
	//zhengxian_v
//  PID_Init(&PID,2.3685,0,0);
	
  	//jieyue_a
//	PID_Init(&in_PID,8.18,0.4,4);        //chuanjji
//  PID_Init(&out_PID,12,0,1);
//  PID_Init(&PID,8.18,0.4,4);          //danji
	
   	//zhengxia_a
//	PID_Init(&in_PID,2.105,0,0);       //chuanji
//  PID_Init(&out_PID,3,0,3.3);
//	PID_Init (&PID,2.105,0,0);         //daniji

  	//disturb_a
//	PID_Init(&in_PID,1000,600,30);     //chuanji
//  PID_Init(&out_PID,1000,0,0);    	
//  PID_Init (&PID,1000,600,30);        //danji
	
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	dt = DWT_GetDeltaT (&DWT_CANT);
	t +=dt;
	Current = Get_Motor_Current(&Motor);
	Velocity = Get_Motor_Velocity(&Motor);
	Angle = Get_Motor_Angle(&Motor);
		
    //sin_init
	  const float frequency = 0.5;
      const float amplitude = 10.0;
      float w = 2 * PI * frequency;
      velocity_sin_ref = amplitude * sin(w * t);
	  angle_sin_ref = 2*PI* sin(w * t);
		
	  /**
		  *Velocity_PID_Calculate
		  */
		
		  //jieyue
//		  Input = PID_Calculate(&PID, VelocityRef, Motor.Velocity, dt);
//	      Motor_Simulation(&Motor, Input, dt);
		
		  //xiepo
//		  Input = PID_Calculate(&PID, t, Motor.Velocity, dt);
//	  	  Motor_Simulation(&Motor, Input, dt);

          //sin
//	      Input = PID_Calculate(&PID, velocity_sin_ref, Motor.Velocity, dt);
//	      Motor_Simulation(&Motor, Input, dt);
		
		
	  /**
		  *Angle_PID_Calculate 
	      */
			
  		  //jieyue
//		  Input = PID_Calculate(&PID, angleRef, Motor.Angle , dt);                   //daniji
//		  out_output = PID_Calculate(&out_PID, angleRef, Motor.Angle , dt);          //chuanji
//		  in_output  = PID_Calculate(&in_PID, out_output, Motor.Velocity , dt);
//		  Input = out_output;
//        Motor_Simulation(&Motor, Input, dt);
      
	     //sin
//		  Input = PID_Calculate(&PID, angle_sin_ref, Motor.Angle , dt);              //daniji
//		  out_output = PID_Calculate(&out_PID, angle_sin_ref, Motor.Angle , dt);     //chuanji
//		  in_output  = PID_Calculate(&in_PID, out_output, Motor.Velocity , dt);
//		  Input = in_output;
//        Motor_Simulation(&Motor, Input, dt);

 	      //disturb
//	      Input = PID_Calculate(&PID, 0, Motor.Angle , dt);                          //danji
//		  out_output = PID_Calculate(&out_PID, 0, Motor.Angle , dt);                 //chuanji
//		  in_output  = PID_Calculate(&in_PID, out_output , Motor.Velocity , dt);
//		  Input = in_output;
//	  	  Motor_Simulation(&Motor, disturbance+Input , dt);  //disturb
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
